This repository contains the hardware design files for the PAMI_2026_A1 PCB, designed using KiCad.
This board consists of the basis of the PAMI. It is designed around the Raspberry Pi Pico 2W and has the following functions:
- Power supplies: 3.3V, 5V, 12V. Battery input: 2.7 - 13V
- Triple stepper motor control
- Sensor inputs: accelerometer, LIDAR
- HMI extension connector + LCD connector
The hardware was designed using KiCad, an open-source electronics design automation suite.
Work in progress
The following table details the pin assignments on the main GPIO Header for connecting external devices. This is crucial for writing firmware and connecting peripherals.
| Type | GPIO | Peripheral | Function | Signal Name | Description |
|---|---|---|---|---|---|
| HMI | 7 | Input | SIO | DSI_STOP |
Display System Interface (DSI) Stop Signal |
| HMI | 9 | Input | SIO | DSI_CORD |
DSI Cord Signal |
| HMI | 10 | Input | SIO | DSI_TEAM |
DSI Team Signal |
| HMI | 11 | Output | SIO | HMI_LCD_RES |
LCD Reset Pin |
| HMI | 12 | PWM | PWM6 A | PWM_LED |
PWM Output for General LED Control |
| HMI | 13 | Output | SIO | HMI_LCD_CS |
LCD Chip Select |
| HMI | 14 | PWM | PWM7 A | PWM_S1 |
PWM Output for Signal 1 |
| HMI | 15 | PWM | PWM7 B | PWM_S2 |
PWM Output for Signal 2 |
| HMI | 19 | PWM | PWM1 B | HMI_LCD_DC |
LCD Data/Command Select |
| HMI | 20 | I2C | I2C0 SDA | HMI_I2C_SDA |
I2C Data for HMI Peripherals |
| HMI | 21 | I2C | I2C0 SCL | HMI_I2C_SCL |
I2C Clock for HMI Peripherals |
| Internal | 23 | Output | SIO | WL_ON |
Wireless/Internal Power Switch Enable |
| Internal | 24 | Input | SIO | WL_D |
Wireless Data/Status Input |
| Internal | 25 | Output | SIO | WL_CS |
Wireless Chip Select |
| Internal | 29 | Input | SIO | WL_CLK |
Wireless Clock Input |
| Monitoring | 26 | ADC | SIO | VBAT / 3 |
ADC Input for Battery Voltage (Divider x3) |
| Monitoring | 27 | ADC | SIO | (Unassigned) | Spare ADC Input |
| Motor | 0 | PWM | PWM0 A | M3_STEP |
Motor 3 Stepping Signal |
| Motor | 1 | Output | SIO | M3_DIR |
Motor 3 Direction Control |
| Motor | 8 | PWM | PWM4 A | M1_DIR |
Motor 1 Direction Control |
| Motor | 16 | Output | SIO | M2_DIR |
Motor 2 Direction Control |
| Motor | 17 | PWM | PWM0 B | M2_STEP |
Motor 2 Stepping Signal |
| Motor | 18 | Output | SIO | M_nEN |
Global Motor Driver Enable (Active Low) |
| Motor | 22 | PWM | PWM3 A | M1_STEP |
Motor 1 Stepping Signal |
| Sensor | 2 | I2C | I2C1 SDA | IMU_I2C_SDA |
I2C Data for IMU/External Sensors |
| Sensor | 3 | I2C | I2C1 SCL | IMU_I2C_SCL |
I2C Clock for IMU/External Sensors |
| Sensor | 5 | Input | UART1 RX | LIDAR_TX |
UART Receive from LIDAR (LIDAR TX is connected here) |
| Sensor | 6 | PWM | PWM3 A | IMU_nINT |
IMU Interrupt Pin |
| Spare | 4 | N/A | N/A | (Unassigned) | Available GPIO Pin |
| Spare | 28 | N/A | N/A | (Unassigned) | Available GPIO Pin |